*_raw function (#388)
* publish_raw function * subscription traits * listener raw * rebased * cleanup and linters * explicit test for deleter in unique_ptr * add missing copyright * cleanup * add rmw_serialize functions * linters * explicit differentiation between take and take_raw * cleanup debug messages * rename to rmw_message_init` * address comments * address review comments * raw->serialized * use size_t (#497)
This commit is contained in:
Karsten Knese
GitHub
parent
1556b6edf4
commit
ec17d68b41
18 changed files with 607 additions and 75 deletions
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@ -260,6 +260,17 @@ if(BUILD_TESTING)
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${PROJECT_NAME}
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)
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endif()
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ament_add_gtest(test_serialized_message_allocator test/test_serialized_message_allocator.cpp
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ENV RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation})
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if(TARGET test_serialized_message_allocator)
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target_include_directories(test_serialized_message_allocator PUBLIC
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${test_msgs_INCLUDE_DIRS}
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)
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target_link_libraries(test_serialized_message_allocator
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${PROJECT_NAME}
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${test_msgs_LIBRARIES}
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)
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endif()
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ament_add_gtest(test_service test/test_service.cpp)
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if(TARGET test_service)
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target_include_directories(test_service PUBLIC
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@ -280,6 +291,16 @@ if(BUILD_TESTING)
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)
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target_link_libraries(test_subscription ${PROJECT_NAME})
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endif()
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find_package(test_msgs REQUIRED)
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ament_add_gtest(test_subscription_traits test/test_subscription_traits.cpp)
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if(TARGET test_subscription_traits)
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target_include_directories(test_subscription_traits PUBLIC
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${rcl_INCLUDE_DIRS}
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)
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ament_target_dependencies(test_subscription_traits
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"test_msgs"
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)
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endif()
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ament_add_gtest(test_find_weak_nodes test/test_find_weak_nodes.cpp)
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if(TARGET test_find_weak_nodes)
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target_include_directories(test_find_weak_nodes PUBLIC
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@ -26,8 +26,13 @@
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namespace rclcpp
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{
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template<typename MessageT, typename CallbackT, typename AllocatorT, typename SubscriptionT>
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typename rclcpp::Subscription<MessageT, AllocatorT>::SharedPtr
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template<
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typename MessageT,
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typename CallbackT,
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typename AllocatorT,
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typename CallbackMessageT,
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typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>>
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typename std::shared_ptr<SubscriptionT>
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create_subscription(
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rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
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const std::string & topic_name,
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@ -36,7 +41,8 @@ create_subscription(
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications,
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bool use_intra_process_comms,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, AllocatorT>::SharedPtr
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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CallbackMessageT, AllocatorT>::SharedPtr
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msg_mem_strat,
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typename std::shared_ptr<AllocatorT> allocator)
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{
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@ -44,8 +50,8 @@ create_subscription(
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subscription_options.qos = qos_profile;
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subscription_options.ignore_local_publications = ignore_local_publications;
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auto factory =
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rclcpp::create_subscription_factory<MessageT, CallbackT, AllocatorT, SubscriptionT>(
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auto factory = rclcpp::create_subscription_factory
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<MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
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std::forward<CallbackT>(callback), msg_mem_strat, allocator);
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auto sub = node_topics->create_subscription(
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@ -18,10 +18,15 @@
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#include <memory>
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#include <stdexcept>
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#include "rcl/types.h"
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#include "rclcpp/allocator/allocator_common.hpp"
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/visibility_control.hpp"
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#include "rmw/serialized_message.h"
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namespace rclcpp
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{
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namespace message_memory_strategy
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@ -39,14 +44,29 @@ public:
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using MessageAlloc = typename MessageAllocTraits::allocator_type;
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using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
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using SerializedMessageAllocTraits = allocator::AllocRebind<rcl_serialized_message_t, Alloc>;
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using SerializedMessageAlloc = typename SerializedMessageAllocTraits::allocator_type;
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using SerializedMessageDeleter =
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allocator::Deleter<SerializedMessageAlloc, rcl_serialized_message_t>;
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using BufferAllocTraits = allocator::AllocRebind<char, Alloc>;
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using BufferAlloc = typename BufferAllocTraits::allocator_type;
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using BufferDeleter = allocator::Deleter<BufferAlloc, char>;
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MessageMemoryStrategy()
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{
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message_allocator_ = std::make_shared<MessageAlloc>();
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serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>();
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buffer_allocator_ = std::make_shared<BufferAlloc>();
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rcutils_allocator_ = allocator::get_rcl_allocator<char, BufferAlloc>(*buffer_allocator_.get());
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}
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explicit MessageMemoryStrategy(std::shared_ptr<Alloc> allocator)
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{
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message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
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serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>(*allocator.get());
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buffer_allocator_ = std::make_shared<BufferAlloc>(*allocator.get());
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rcutils_allocator_ = allocator::get_rcl_allocator<char, BufferAlloc>(*buffer_allocator_.get());
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}
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/// Default factory method
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@ -62,6 +82,37 @@ public:
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return std::allocate_shared<MessageT, MessageAlloc>(*message_allocator_.get());
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}
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virtual std::shared_ptr<rcl_serialized_message_t> borrow_serialized_message(size_t capacity)
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{
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auto msg = new rcl_serialized_message_t;
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*msg = rmw_get_zero_initialized_serialized_message();
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auto ret = rmw_serialized_message_init(msg, capacity, &rcutils_allocator_);
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if (ret != RCL_RET_OK) {
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rclcpp::exceptions::throw_from_rcl_error(ret);
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}
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auto serialized_msg = std::shared_ptr<rcl_serialized_message_t>(msg,
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[](rmw_serialized_message_t * msg) {
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auto ret = rmw_serialized_message_fini(msg);
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delete msg;
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if (ret != RCL_RET_OK) {
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rclcpp::exceptions::throw_from_rcl_error(ret, "leaking memory");
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}
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});
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return serialized_msg;
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}
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virtual std::shared_ptr<rcl_serialized_message_t> borrow_serialized_message()
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{
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return borrow_serialized_message(default_buffer_capacity_);
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}
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virtual void set_default_buffer_capacity(size_t capacity)
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{
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default_buffer_capacity_ = capacity;
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}
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/// Release ownership of the message, which will deallocate it if it has no more owners.
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/** \param[in] msg Shared pointer to the message we are returning. */
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virtual void return_message(std::shared_ptr<MessageT> & msg)
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@ -69,8 +120,22 @@ public:
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msg.reset();
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}
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virtual void return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & serialized_msg)
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{
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serialized_msg.reset();
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}
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std::shared_ptr<MessageAlloc> message_allocator_;
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MessageDeleter message_deleter_;
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std::shared_ptr<SerializedMessageAlloc> serialized_message_allocator_;
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SerializedMessageDeleter serialized_message_deleter_;
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std::shared_ptr<BufferAlloc> buffer_allocator_;
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BufferDeleter buffer_deleter_;
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size_t default_buffer_capacity_ = 0;
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rcutils_allocator_t rcutils_allocator_;
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};
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} // namespace message_memory_strategy
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@ -53,6 +53,7 @@
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#include "rclcpp/publisher.hpp"
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#include "rclcpp/service.hpp"
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#include "rclcpp/subscription.hpp"
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#include "rclcpp/subscription_traits.hpp"
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#include "rclcpp/time.hpp"
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#include "rclcpp/timer.hpp"
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#include "rclcpp/visibility_control.hpp"
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@ -183,7 +184,8 @@ public:
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typename MessageT,
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typename CallbackT,
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typename Alloc = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
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typename SubscriptionT = rclcpp::Subscription<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
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std::shared_ptr<SubscriptionT>
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create_subscription(
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const std::string & topic_name,
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@ -191,7 +193,8 @@ public:
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const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
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bool ignore_local_publications = false,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat = nullptr,
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std::shared_ptr<Alloc> allocator = nullptr);
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@ -214,15 +217,17 @@ public:
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typename MessageT,
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typename CallbackT,
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typename Alloc = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
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typename SubscriptionT = rclcpp::Subscription<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
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std::shared_ptr<SubscriptionT>
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create_subscription(
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const std::string & topic_name,
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size_t qos_history_depth,
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CallbackT && callback,
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size_t qos_history_depth,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
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bool ignore_local_publications = false,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat = nullptr,
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std::shared_ptr<Alloc> allocator = nullptr);
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@ -82,7 +82,11 @@ Node::create_publisher(
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allocator);
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}
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template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
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template<
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typename MessageT,
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typename CallbackT,
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typename Alloc,
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typename SubscriptionT>
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std::shared_ptr<SubscriptionT>
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Node::create_subscription(
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const std::string & topic_name,
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@ -90,20 +94,23 @@ Node::create_subscription(
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const rmw_qos_profile_t & qos_profile,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat,
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std::shared_ptr<Alloc> allocator)
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{
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using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
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if (!allocator) {
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allocator = std::make_shared<Alloc>();
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}
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if (!msg_mem_strat) {
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using rclcpp::message_memory_strategy::MessageMemoryStrategy;
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msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
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msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, Alloc>::create_default();
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}
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return rclcpp::create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
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return rclcpp::create_subscription<MessageT, CallbackT, Alloc, CallbackMessageT, SubscriptionT>(
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this->node_topics_.get(),
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topic_name,
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std::forward<CallbackT>(callback),
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@ -115,21 +122,26 @@ Node::create_subscription(
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allocator);
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}
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template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
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template<
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typename MessageT,
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typename CallbackT,
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typename Alloc,
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typename SubscriptionT>
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std::shared_ptr<SubscriptionT>
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Node::create_subscription(
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const std::string & topic_name,
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size_t qos_history_depth,
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CallbackT && callback,
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size_t qos_history_depth,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat,
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std::shared_ptr<Alloc> allocator)
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{
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rmw_qos_profile_t qos = rmw_qos_profile_default;
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qos.depth = qos_history_depth;
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return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
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return this->create_subscription<MessageT>(
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topic_name,
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std::forward<CallbackT>(callback),
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qos,
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@ -120,8 +120,9 @@ public:
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auto msg_mem_strat =
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MessageMemoryStrategy<rcl_interfaces::msg::ParameterEvent, Alloc>::create_default();
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using rcl_interfaces::msg::ParameterEvent;
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return rclcpp::create_subscription<
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rcl_interfaces::msg::ParameterEvent, CallbackT, Alloc, SubscriptionT>(
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ParameterEvent, CallbackT, Alloc, ParameterEvent, SubscriptionT>(
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this->node_topics_interface_.get(),
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"parameter_events",
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std::forward<CallbackT>(callback),
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@ -205,11 +205,8 @@ public:
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ipm.publisher_id = intra_process_publisher_id_;
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ipm.message_sequence = message_seq;
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auto status = rcl_publish(&intra_process_publisher_handle_, &ipm);
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if (status != RCL_RET_OK) {
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// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
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throw std::runtime_error(
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std::string("failed to publish intra process message: ") + rcl_get_error_string_safe());
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// *INDENT-ON*
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if (RCL_RET_OK != status) {
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rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish intra process message");
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}
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} else {
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// Always destroy the message, even if we don't consume it, for consistency.
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@ -279,6 +276,19 @@ public:
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return this->publish(*msg);
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}
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void
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publish(const rcl_serialized_message_t * serialized_msg)
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{
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if (store_intra_process_message_) {
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// TODO(Karsten1987): support serialized message passed by intraprocess
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throw std::runtime_error("storing serialized messages in intra process is not supported yet");
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}
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auto status = rcl_publish_serialized_message(&publisher_handle_, serialized_msg);
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if (RCL_RET_OK != status) {
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rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish serialized message");
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}
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}
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std::shared_ptr<MessageAlloc> get_allocator() const
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{
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return message_allocator_;
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@ -289,11 +299,8 @@ protected:
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do_inter_process_publish(const MessageT * msg)
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{
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auto status = rcl_publish(&publisher_handle_, msg);
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if (status != RCL_RET_OK) {
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// *INDENT-OFF* (prevent uncrustify from making unnecessary indents here)
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throw std::runtime_error(
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std::string("failed to publish message: ") + rcl_get_error_string_safe());
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// *INDENT-ON*
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if (RCL_RET_OK != status) {
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rclcpp::exceptions::throw_from_rcl_error(status, "failed to publish message");
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}
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}
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|
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@ -29,12 +29,13 @@
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#include "rcl_interfaces/msg/intra_process_message.hpp"
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#include "rclcpp/any_subscription_callback.hpp"
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#include "rclcpp/exceptions.hpp"
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#include "rclcpp/expand_topic_or_service_name.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/message_memory_strategy.hpp"
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#include "rclcpp/any_subscription_callback.hpp"
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#include "rclcpp/subscription_traits.hpp"
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#include "rclcpp/type_support_decl.hpp"
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#include "rclcpp/expand_topic_or_service_name.hpp"
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#include "rclcpp/visibility_control.hpp"
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namespace rclcpp
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@ -64,7 +65,8 @@ public:
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std::shared_ptr<rcl_node_t> node_handle,
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const rosidl_message_type_support_t & type_support_handle,
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const std::string & topic_name,
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const rcl_subscription_options_t & subscription_options);
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const rcl_subscription_options_t & subscription_options,
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bool is_serialized = false);
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/// Default destructor.
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RCLCPP_PUBLIC
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@ -91,6 +93,12 @@ public:
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/** \return Shared pointer to the fresh message. */
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virtual std::shared_ptr<void>
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create_message() = 0;
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/// Borrow a new serialized message
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/** \return Shared pointer to a rcl_message_serialized_t. */
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virtual std::shared_ptr<rcl_serialized_message_t>
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create_serialized_message() = 0;
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/// Check if we need to handle the message, and execute the callback if we do.
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/**
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* \param[in] message Shared pointer to the message to handle.
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@ -104,11 +112,22 @@ public:
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virtual void
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return_message(std::shared_ptr<void> & message) = 0;
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/// Return the message borrowed in create_serialized_message.
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/** \param[in] message Shared pointer to the returned message. */
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virtual void
|
||||
return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
|
||||
|
||||
virtual void
|
||||
handle_intra_process_message(
|
||||
rcl_interfaces::msg::IntraProcessMessage & ipm,
|
||||
const rmw_message_info_t & message_info) = 0;
|
||||
|
||||
const rosidl_message_type_support_t &
|
||||
get_message_type_support_handle() const;
|
||||
|
||||
bool
|
||||
is_serialized() const;
|
||||
|
||||
protected:
|
||||
std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
|
||||
std::shared_ptr<rcl_subscription_t> subscription_handle_;
|
||||
|
|
@ -116,19 +135,24 @@ protected:
|
|||
|
||||
private:
|
||||
RCLCPP_DISABLE_COPY(SubscriptionBase)
|
||||
|
||||
rosidl_message_type_support_t type_support_;
|
||||
bool is_serialized_;
|
||||
};
|
||||
|
||||
/// Subscription implementation, templated on the type of message this subscription receives.
|
||||
template<typename MessageT, typename Alloc = std::allocator<void>>
|
||||
template<
|
||||
typename CallbackMessageT,
|
||||
typename Alloc = std::allocator<void>>
|
||||
class Subscription : public SubscriptionBase
|
||||
{
|
||||
friend class rclcpp::node_interfaces::NodeTopicsInterface;
|
||||
|
||||
public:
|
||||
using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
|
||||
using MessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>;
|
||||
using MessageAlloc = typename MessageAllocTraits::allocator_type;
|
||||
using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
|
||||
using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
|
||||
using MessageDeleter = allocator::Deleter<MessageAlloc, CallbackMessageT>;
|
||||
using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
|
||||
|
||||
RCLCPP_SMART_PTR_DEFINITIONS(Subscription)
|
||||
|
||||
|
|
@ -144,17 +168,19 @@ public:
|
|||
*/
|
||||
Subscription(
|
||||
std::shared_ptr<rcl_node_t> node_handle,
|
||||
const rosidl_message_type_support_t & ts,
|
||||
const std::string & topic_name,
|
||||
const rcl_subscription_options_t & subscription_options,
|
||||
AnySubscriptionCallback<MessageT, Alloc> callback,
|
||||
typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
|
||||
memory_strategy = message_memory_strategy::MessageMemoryStrategy<MessageT,
|
||||
AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
|
||||
typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
|
||||
memory_strategy = message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
|
||||
Alloc>::create_default())
|
||||
: SubscriptionBase(
|
||||
node_handle,
|
||||
*rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
|
||||
ts,
|
||||
topic_name,
|
||||
subscription_options),
|
||||
subscription_options,
|
||||
rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
|
||||
any_callback_(callback),
|
||||
message_memory_strategy_(memory_strategy),
|
||||
get_intra_process_message_callback_(nullptr),
|
||||
|
|
@ -167,11 +193,12 @@ public:
|
|||
* \param[in] message_memory_strategy Shared pointer to the memory strategy to set.
|
||||
*/
|
||||
void set_message_memory_strategy(
|
||||
typename message_memory_strategy::MessageMemoryStrategy<MessageT,
|
||||
typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
|
||||
Alloc>::SharedPtr message_memory_strategy)
|
||||
{
|
||||
message_memory_strategy_ = message_memory_strategy;
|
||||
}
|
||||
|
||||
std::shared_ptr<void> create_message()
|
||||
{
|
||||
/* The default message memory strategy provides a dynamically allocated message on each call to
|
||||
|
|
@ -181,6 +208,11 @@ public:
|
|||
return message_memory_strategy_->borrow_message();
|
||||
}
|
||||
|
||||
std::shared_ptr<rcl_serialized_message_t> create_serialized_message()
|
||||
{
|
||||
return message_memory_strategy_->borrow_serialized_message();
|
||||
}
|
||||
|
||||
void handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info)
|
||||
{
|
||||
if (matches_any_intra_process_publishers_) {
|
||||
|
|
@ -190,7 +222,7 @@ public:
|
|||
return;
|
||||
}
|
||||
}
|
||||
auto typed_message = std::static_pointer_cast<MessageT>(message);
|
||||
auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
|
||||
any_callback_.dispatch(typed_message, message_info);
|
||||
}
|
||||
|
||||
|
|
@ -198,10 +230,15 @@ public:
|
|||
/** \param message message to be returned */
|
||||
void return_message(std::shared_ptr<void> & message)
|
||||
{
|
||||
auto typed_message = std::static_pointer_cast<MessageT>(message);
|
||||
auto typed_message = std::static_pointer_cast<CallbackMessageT>(message);
|
||||
message_memory_strategy_->return_message(typed_message);
|
||||
}
|
||||
|
||||
void return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message)
|
||||
{
|
||||
message_memory_strategy_->return_serialized_message(message);
|
||||
}
|
||||
|
||||
void handle_intra_process_message(
|
||||
rcl_interfaces::msg::IntraProcessMessage & ipm,
|
||||
const rmw_message_info_t & message_info)
|
||||
|
|
@ -278,8 +315,8 @@ public:
|
|||
private:
|
||||
RCLCPP_DISABLE_COPY(Subscription)
|
||||
|
||||
AnySubscriptionCallback<MessageT, Alloc> any_callback_;
|
||||
typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
|
||||
AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
|
||||
typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
|
||||
message_memory_strategy_;
|
||||
|
||||
GetMessageCallbackType get_intra_process_message_callback_;
|
||||
|
|
|
|||
|
|
@ -25,6 +25,7 @@
|
|||
#include "rosidl_typesupport_cpp/message_type_support.hpp"
|
||||
|
||||
#include "rclcpp/subscription.hpp"
|
||||
#include "rclcpp/subscription_traits.hpp"
|
||||
#include "rclcpp/intra_process_manager.hpp"
|
||||
#include "rclcpp/node_interfaces/node_base_interface.hpp"
|
||||
#include "rclcpp/visibility_control.hpp"
|
||||
|
|
@ -65,22 +66,28 @@ struct SubscriptionFactory
|
|||
};
|
||||
|
||||
/// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
|
||||
template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
|
||||
template<
|
||||
typename MessageT,
|
||||
typename CallbackT,
|
||||
typename Alloc,
|
||||
typename CallbackMessageT,
|
||||
typename SubscriptionT>
|
||||
SubscriptionFactory
|
||||
create_subscription_factory(
|
||||
CallbackT && callback,
|
||||
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
|
||||
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
|
||||
CallbackMessageT, Alloc>::SharedPtr
|
||||
msg_mem_strat,
|
||||
std::shared_ptr<Alloc> allocator)
|
||||
{
|
||||
SubscriptionFactory factory;
|
||||
|
||||
using rclcpp::AnySubscriptionCallback;
|
||||
AnySubscriptionCallback<MessageT, Alloc> any_subscription_callback(allocator);
|
||||
AnySubscriptionCallback<CallbackMessageT, Alloc> any_subscription_callback(allocator);
|
||||
any_subscription_callback.set(std::forward<CallbackT>(callback));
|
||||
|
||||
auto message_alloc =
|
||||
std::make_shared<typename Subscription<MessageT, Alloc>::MessageAlloc>();
|
||||
std::make_shared<typename Subscription<CallbackMessageT, Alloc>::MessageAlloc>();
|
||||
|
||||
// factory function that creates a MessageT specific SubscriptionT
|
||||
factory.create_typed_subscription =
|
||||
|
|
@ -91,13 +98,14 @@ create_subscription_factory(
|
|||
) -> rclcpp::SubscriptionBase::SharedPtr
|
||||
{
|
||||
subscription_options.allocator =
|
||||
rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
|
||||
rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(*message_alloc.get());
|
||||
|
||||
using rclcpp::Subscription;
|
||||
using rclcpp::SubscriptionBase;
|
||||
|
||||
auto sub = Subscription<MessageT, Alloc>::make_shared(
|
||||
auto sub = Subscription<CallbackMessageT, Alloc>::make_shared(
|
||||
node_base->get_shared_rcl_node_handle(),
|
||||
*rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
|
||||
topic_name,
|
||||
subscription_options,
|
||||
any_subscription_callback,
|
||||
|
|
@ -117,7 +125,7 @@ create_subscription_factory(
|
|||
uint64_t intra_process_subscription_id = ipm->add_subscription(subscription);
|
||||
|
||||
auto intra_process_options = rcl_subscription_get_default_options();
|
||||
intra_process_options.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(
|
||||
intra_process_options.allocator = rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(
|
||||
*message_alloc.get());
|
||||
intra_process_options.qos = subscription_options.qos;
|
||||
intra_process_options.ignore_local_publications = false;
|
||||
|
|
@ -128,7 +136,7 @@ create_subscription_factory(
|
|||
uint64_t publisher_id,
|
||||
uint64_t message_sequence,
|
||||
uint64_t subscription_id,
|
||||
typename rclcpp::Subscription<MessageT, Alloc>::MessageUniquePtr & message)
|
||||
typename rclcpp::Subscription<CallbackMessageT, Alloc>::MessageUniquePtr & message)
|
||||
{
|
||||
auto ipm = weak_ipm.lock();
|
||||
if (!ipm) {
|
||||
|
|
@ -136,7 +144,7 @@ create_subscription_factory(
|
|||
throw std::runtime_error(
|
||||
"intra process take called after destruction of intra process manager");
|
||||
}
|
||||
ipm->take_intra_process_message<MessageT, Alloc>(
|
||||
ipm->take_intra_process_message<CallbackMessageT, Alloc>(
|
||||
publisher_id, message_sequence, subscription_id, message);
|
||||
};
|
||||
|
||||
|
|
|
|||
80
rclcpp/include/rclcpp/subscription_traits.hpp
Normal file
80
rclcpp/include/rclcpp/subscription_traits.hpp
Normal file
|
|
@ -0,0 +1,80 @@
|
|||
// Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef RCLCPP__SUBSCRIPTION_TRAITS_HPP_
|
||||
#define RCLCPP__SUBSCRIPTION_TRAITS_HPP_
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include "rclcpp/function_traits.hpp"
|
||||
|
||||
namespace rclcpp
|
||||
{
|
||||
namespace subscription_traits
|
||||
{
|
||||
|
||||
/*
|
||||
* The current version of uncrustify has a misinterpretion here
|
||||
* between `:` used for inheritance vs for initializer list
|
||||
* The result is that whenever a templated struct is used,
|
||||
* the colon has to be without any whitespace next to it whereas
|
||||
* when no template is used, the colon has to be separated by a space.
|
||||
* Cheers!
|
||||
*/
|
||||
template<typename T>
|
||||
struct is_serialized_subscription_argument : std::false_type
|
||||
{};
|
||||
|
||||
template<>
|
||||
struct is_serialized_subscription_argument<rcl_serialized_message_t>: std::true_type
|
||||
{};
|
||||
|
||||
template<>
|
||||
struct is_serialized_subscription_argument<std::shared_ptr<rcl_serialized_message_t>>
|
||||
: std::true_type
|
||||
{};
|
||||
|
||||
template<typename T>
|
||||
struct is_serialized_subscription : is_serialized_subscription_argument<T>
|
||||
{};
|
||||
|
||||
template<typename CallbackT>
|
||||
struct is_serialized_callback
|
||||
: is_serialized_subscription_argument<
|
||||
typename rclcpp::function_traits::function_traits<CallbackT>::template argument_type<0>>
|
||||
{};
|
||||
|
||||
template<typename MessageT>
|
||||
struct extract_message_type
|
||||
{
|
||||
using type = typename std::remove_cv<MessageT>::type;
|
||||
};
|
||||
|
||||
template<typename MessageT>
|
||||
struct extract_message_type<std::shared_ptr<MessageT>>: extract_message_type<MessageT>
|
||||
{};
|
||||
|
||||
template<typename MessageT, typename Deleter>
|
||||
struct extract_message_type<std::unique_ptr<MessageT, Deleter>>: extract_message_type<MessageT>
|
||||
{};
|
||||
|
||||
template<typename CallbackT>
|
||||
struct has_message_type : extract_message_type<
|
||||
typename rclcpp::function_traits::function_traits<CallbackT>::template argument_type<0>>
|
||||
{};
|
||||
|
||||
} // namespace subscription_traits
|
||||
} // namespace rclcpp
|
||||
|
||||
#endif // RCLCPP__SUBSCRIPTION_TRAITS_HPP_
|
||||
|
|
@ -36,6 +36,7 @@
|
|||
<test_depend>ament_lint_common</test_depend>
|
||||
<test_depend>rmw</test_depend>
|
||||
<test_depend>rmw_implementation_cmake</test_depend>
|
||||
<test_depend>test_msgs</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
|
|
|
|||
|
|
@ -281,22 +281,41 @@ void
|
|||
Executor::execute_subscription(
|
||||
rclcpp::SubscriptionBase::SharedPtr subscription)
|
||||
{
|
||||
std::shared_ptr<void> message = subscription->create_message();
|
||||
rmw_message_info_t message_info;
|
||||
|
||||
auto ret = rcl_take(subscription->get_subscription_handle().get(),
|
||||
message.get(), &message_info);
|
||||
if (ret == RCL_RET_OK) {
|
||||
message_info.from_intra_process = false;
|
||||
subscription->handle_message(message, message_info);
|
||||
} else if (ret != RCL_RET_SUBSCRIPTION_TAKE_FAILED) {
|
||||
|
||||
if (subscription->is_serialized()) {
|
||||
auto serialized_msg = subscription->create_serialized_message();
|
||||
auto ret = rcl_take_serialized_message(
|
||||
subscription->get_subscription_handle().get(),
|
||||
serialized_msg.get(), &message_info);
|
||||
if (RCL_RET_OK == ret) {
|
||||
auto void_serialized_msg = std::static_pointer_cast<void>(serialized_msg);
|
||||
subscription->handle_message(void_serialized_msg, message_info);
|
||||
} else if (RCL_RET_SUBSCRIPTION_TAKE_FAILED != ret) {
|
||||
RCUTILS_LOG_ERROR_NAMED(
|
||||
"rclcpp",
|
||||
"take failed for subscription on topic '%s': %s",
|
||||
"take_serialized failed for subscription on topic '%s': %s",
|
||||
subscription->get_topic_name(), rcl_get_error_string_safe());
|
||||
rcl_reset_error();
|
||||
}
|
||||
subscription->return_serialized_message(serialized_msg);
|
||||
} else {
|
||||
std::shared_ptr<void> message = subscription->create_message();
|
||||
auto ret = rcl_take(
|
||||
subscription->get_subscription_handle().get(),
|
||||
message.get(), &message_info);
|
||||
if (RCL_RET_OK == ret) {
|
||||
subscription->handle_message(message, message_info);
|
||||
} else if (RCL_RET_SUBSCRIPTION_TAKE_FAILED != ret) {
|
||||
RCUTILS_LOG_ERROR_NAMED(
|
||||
"rclcpp",
|
||||
"could not deserialize serialized message on topic '%s': %s",
|
||||
subscription->get_topic_name(), rcl_get_error_string_safe());
|
||||
rcl_reset_error();
|
||||
}
|
||||
subscription->return_message(message);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
|
|
|
|||
|
|
@ -399,8 +399,9 @@ SyncParametersClient::set_parameters(
|
|||
{
|
||||
auto f = async_parameters_client_->set_parameters(parameters);
|
||||
|
||||
auto node_base_interface = node_->get_node_base_interface();
|
||||
using rclcpp::executors::spin_node_until_future_complete;
|
||||
if (spin_node_until_future_complete(*executor_, node_->get_node_base_interface(), f) ==
|
||||
if (spin_node_until_future_complete(*executor_, node_base_interface, f) ==
|
||||
rclcpp::executor::FutureReturnCode::SUCCESS)
|
||||
{
|
||||
return f.get();
|
||||
|
|
|
|||
|
|
@ -31,8 +31,11 @@ SubscriptionBase::SubscriptionBase(
|
|||
std::shared_ptr<rcl_node_t> node_handle,
|
||||
const rosidl_message_type_support_t & type_support_handle,
|
||||
const std::string & topic_name,
|
||||
const rcl_subscription_options_t & subscription_options)
|
||||
: node_handle_(node_handle)
|
||||
const rcl_subscription_options_t & subscription_options,
|
||||
bool is_serialized)
|
||||
: node_handle_(node_handle),
|
||||
type_support_(type_support_handle),
|
||||
is_serialized_(is_serialized)
|
||||
{
|
||||
std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
|
||||
auto custom_deletor = [weak_node_handle](rcl_subscription_t * rcl_subs)
|
||||
|
|
@ -111,3 +114,15 @@ SubscriptionBase::get_intra_process_subscription_handle() const
|
|||
{
|
||||
return intra_process_subscription_handle_;
|
||||
}
|
||||
|
||||
const rosidl_message_type_support_t &
|
||||
SubscriptionBase::get_message_type_support_handle() const
|
||||
{
|
||||
return type_support_;
|
||||
}
|
||||
|
||||
bool
|
||||
SubscriptionBase::is_serialized() const
|
||||
{
|
||||
return is_serialized_;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -74,7 +74,9 @@ void TimeSource::attachNode(
|
|||
|
||||
auto cb = std::bind(&TimeSource::clock_cb, this, std::placeholders::_1);
|
||||
|
||||
clock_subscription_ = rclcpp::create_subscription<MessageT, decltype(cb), Alloc, SubscriptionT>(
|
||||
clock_subscription_ = rclcpp::create_subscription<
|
||||
MessageT, decltype(cb), Alloc, MessageT, SubscriptionT
|
||||
>(
|
||||
node_topics_.get(),
|
||||
topic_name,
|
||||
std::move(cb),
|
||||
|
|
|
|||
67
rclcpp/test/test_serialized_message_allocator.cpp
Normal file
67
rclcpp/test/test_serialized_message_allocator.cpp
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
// Copyright 2018 Open Source Robotics Foundation, Inc.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <string>
|
||||
#include <memory>
|
||||
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
#include "rcl/types.h"
|
||||
|
||||
#include "test_msgs/msg/empty.hpp"
|
||||
|
||||
TEST(TestSerializedMessageAllocator, default_allocator) {
|
||||
using DummyMessageT = float;
|
||||
auto mem_strategy =
|
||||
rclcpp::message_memory_strategy::MessageMemoryStrategy<DummyMessageT>::create_default();
|
||||
|
||||
auto msg0 = mem_strategy->borrow_serialized_message();
|
||||
ASSERT_EQ(msg0->buffer_capacity, 0u);
|
||||
mem_strategy->return_serialized_message(msg0);
|
||||
|
||||
auto msg100 = mem_strategy->borrow_serialized_message(100);
|
||||
ASSERT_EQ(msg100->buffer_capacity, 100u);
|
||||
mem_strategy->return_serialized_message(msg100);
|
||||
|
||||
auto msg200 = mem_strategy->borrow_serialized_message();
|
||||
auto ret = rmw_serialized_message_resize(msg200.get(), 200);
|
||||
ASSERT_EQ(RCL_RET_OK, ret);
|
||||
EXPECT_EQ(0u, msg200->buffer_length);
|
||||
EXPECT_EQ(200u, msg200->buffer_capacity);
|
||||
mem_strategy->return_serialized_message(msg200);
|
||||
|
||||
auto msg1000 = mem_strategy->borrow_serialized_message(1000);
|
||||
ASSERT_EQ(msg1000->buffer_capacity, 1000u);
|
||||
ret = rmw_serialized_message_resize(msg1000.get(), 2000);
|
||||
ASSERT_EQ(RCL_RET_OK, ret);
|
||||
EXPECT_EQ(2000u, msg1000->buffer_capacity);
|
||||
mem_strategy->return_serialized_message(msg1000);
|
||||
}
|
||||
|
||||
TEST(TestSerializedMessageAllocator, borrow_from_subscription) {
|
||||
rclcpp::init(0, NULL);
|
||||
|
||||
auto node = std::make_shared<rclcpp::Node>("test_serialized_message_allocator_node");
|
||||
std::shared_ptr<rclcpp::SubscriptionBase> sub =
|
||||
node->create_subscription<test_msgs::msg::Empty>("~/dummy_topic", [](
|
||||
std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
|
||||
|
||||
auto msg0 = sub->create_serialized_message();
|
||||
EXPECT_EQ(0u, msg0->buffer_capacity);
|
||||
sub->return_serialized_message(msg0);
|
||||
|
||||
rclcpp::shutdown();
|
||||
}
|
||||
178
rclcpp/test/test_subscription_traits.cpp
Normal file
178
rclcpp/test/test_subscription_traits.cpp
Normal file
|
|
@ -0,0 +1,178 @@
|
|||
// Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
|
||||
#include "rcl/types.h"
|
||||
|
||||
#include "rclcpp/allocator/allocator_common.hpp"
|
||||
#include "rclcpp/subscription_traits.hpp"
|
||||
|
||||
#include "test_msgs/msg/empty.hpp"
|
||||
|
||||
void serialized_callback_copy(rcl_serialized_message_t unused)
|
||||
{
|
||||
(void) unused;
|
||||
}
|
||||
|
||||
void serialized_callback_shared_ptr(std::shared_ptr<rcl_serialized_message_t> unused)
|
||||
{
|
||||
(void) unused;
|
||||
}
|
||||
|
||||
void not_serialized_callback(char * unused)
|
||||
{
|
||||
(void) unused;
|
||||
}
|
||||
|
||||
void not_serialized_shared_ptr_callback(std::shared_ptr<char> unused)
|
||||
{
|
||||
(void) unused;
|
||||
}
|
||||
|
||||
void not_serialized_unique_ptr_callback(
|
||||
test_msgs::msg::Empty::UniquePtrWithDeleter<rclcpp::allocator::Deleter<std::allocator<void>,
|
||||
test_msgs::msg::Empty>> unused)
|
||||
{
|
||||
(void) unused;
|
||||
}
|
||||
|
||||
TEST(TestSubscriptionTraits, is_serialized_callback) {
|
||||
// Test regular functions
|
||||
auto cb1 = &serialized_callback_copy;
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb1)>::value == true,
|
||||
"rcl_serialized_message_t in a first argument callback makes it a serialized callback");
|
||||
|
||||
auto cb2 = &serialized_callback_shared_ptr;
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb2)>::value == true,
|
||||
"std::shared_ptr<rcl_serialized_message_t> in a callback makes it a serialized callback");
|
||||
|
||||
auto cb3 = ¬_serialized_callback;
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb3)>::value == false,
|
||||
"passing a char * is not a serialized callback");
|
||||
|
||||
auto cb4 = ¬_serialized_shared_ptr_callback;
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb4)>::value == false,
|
||||
"passing a std::shared_tr<char> is not a serialized callback");
|
||||
|
||||
auto cb5 = [](rcl_serialized_message_t unused) -> void
|
||||
{
|
||||
(void) unused;
|
||||
};
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb5)>::value == true,
|
||||
"rcl_serialized_message_t in a first argument callback makes it a serialized callback");
|
||||
|
||||
using MessageT = test_msgs::msg::Empty;
|
||||
using MessageTAllocator = std::allocator<void>;
|
||||
using MessageTDeallocator = rclcpp::allocator::Deleter<MessageTAllocator, MessageT>;
|
||||
auto cb6 = [](MessageT::UniquePtrWithDeleter<MessageTDeallocator> unique_msg_ptr) -> void
|
||||
{
|
||||
(void) unique_msg_ptr;
|
||||
};
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb6)>::value == false,
|
||||
"passing a std::unique_ptr of test_msgs::msg::Empty is not a serialized callback");
|
||||
|
||||
auto cb7 = ¬_serialized_unique_ptr_callback;
|
||||
static_assert(
|
||||
rclcpp::subscription_traits::is_serialized_callback<decltype(cb7)>::value == false,
|
||||
"passing a fancy unique_ptr of test_msgs::msg::Empty is not a serialized callback");
|
||||
}
|
||||
|
||||
TEST(TestSubscriptionTraits, callback_messages) {
|
||||
static_assert(
|
||||
std::is_same<
|
||||
std::shared_ptr<char>,
|
||||
rclcpp::function_traits::function_traits<
|
||||
decltype(not_serialized_shared_ptr_callback)
|
||||
>::template argument_type<0>
|
||||
>::value, "wrong!");
|
||||
|
||||
static_assert(
|
||||
std::is_same<
|
||||
char,
|
||||
rclcpp::subscription_traits::extract_message_type<
|
||||
rclcpp::function_traits::function_traits<
|
||||
decltype(not_serialized_shared_ptr_callback)
|
||||
>::template argument_type<0>
|
||||
>::type
|
||||
>::value, "wrong!");
|
||||
|
||||
auto cb1 = &serialized_callback_copy;
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rcl_serialized_message_t,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb1)>::type>::value,
|
||||
"serialized callback message type is rcl_serialized_message_t");
|
||||
|
||||
auto cb2 = &serialized_callback_shared_ptr;
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rcl_serialized_message_t,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb2)>::type>::value,
|
||||
"serialized callback message type is rcl_serialized_message_t");
|
||||
|
||||
auto cb3 = ¬_serialized_callback;
|
||||
static_assert(
|
||||
std::is_same<
|
||||
char *,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb3)>::type>::value,
|
||||
"not serialized callback message type is char");
|
||||
|
||||
auto cb4 = ¬_serialized_shared_ptr_callback;
|
||||
static_assert(
|
||||
std::is_same<
|
||||
char,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb4)>::type>::value,
|
||||
"not serialized shared_ptr callback message type is std::shared_ptr<char>");
|
||||
|
||||
auto cb5 = [](rcl_serialized_message_t unused) -> void
|
||||
{
|
||||
(void) unused;
|
||||
};
|
||||
static_assert(
|
||||
std::is_same<
|
||||
rcl_serialized_message_t,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb5)>::type>::value,
|
||||
"serialized callback message type is rcl_serialized_message_t");
|
||||
|
||||
using MessageT = test_msgs::msg::Empty;
|
||||
using MessageTAllocator = std::allocator<MessageT>;
|
||||
using MessageTDeallocator = rclcpp::allocator::Deleter<MessageTAllocator, MessageT>;
|
||||
auto cb6 = [](std::unique_ptr<MessageT, MessageTDeallocator> unique_msg_ptr) -> void
|
||||
{
|
||||
(void) unique_msg_ptr;
|
||||
};
|
||||
static_assert(
|
||||
std::is_same<
|
||||
test_msgs::msg::Empty,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb6)>::type>::value,
|
||||
"passing a std::unique_ptr of test_msgs::msg::Empty has message type Empty");
|
||||
|
||||
auto cb7 = ¬_serialized_unique_ptr_callback;
|
||||
static_assert(
|
||||
std::is_same<
|
||||
test_msgs::msg::Empty,
|
||||
rclcpp::subscription_traits::has_message_type<decltype(cb7)>::type>::value,
|
||||
"passing a fancy std::unique_ptr of test_msgs::msg::Empty has message type Empty");
|
||||
}
|
||||
|
|
@ -297,11 +297,14 @@ public:
|
|||
return RCL_RET_ERROR;
|
||||
}
|
||||
|
||||
constexpr bool publish_update = true;
|
||||
// keep the initial state to pass to a transition callback
|
||||
State initial_state(state_machine_.current_state);
|
||||
|
||||
uint8_t transition_id = lifecycle_transition;
|
||||
if (rcl_lifecycle_trigger_transition(&state_machine_, transition_id, true) != RCL_RET_OK) {
|
||||
if (rcl_lifecycle_trigger_transition(
|
||||
&state_machine_, transition_id, publish_update) != RCL_RET_OK)
|
||||
{
|
||||
RCUTILS_LOG_ERROR("Unable to start transition %u from current state %s: %s",
|
||||
transition_id, state_machine_.current_state->label, rcl_get_error_string_safe())
|
||||
return RCL_RET_ERROR;
|
||||
|
|
@ -311,7 +314,7 @@ public:
|
|||
state_machine_.current_state->id, initial_state);
|
||||
|
||||
if (rcl_lifecycle_trigger_transition(
|
||||
&state_machine_, cb_return_code, true) != RCL_RET_OK)
|
||||
&state_machine_, cb_return_code, publish_update) != RCL_RET_OK)
|
||||
{
|
||||
RCUTILS_LOG_ERROR("Failed to finish transition %u. Current state is now: %s",
|
||||
transition_id, state_machine_.current_state->label)
|
||||
|
|
@ -326,13 +329,17 @@ public:
|
|||
state_machine_.current_state->id, initial_state);
|
||||
if (error_resolved == lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS) {
|
||||
// We call cleanup on the error state
|
||||
if (rcl_lifecycle_trigger_transition(&state_machine_, error_resolved, true) != RCL_RET_OK) {
|
||||
if (rcl_lifecycle_trigger_transition(
|
||||
&state_machine_, error_resolved, publish_update) != RCL_RET_OK)
|
||||
{
|
||||
RCUTILS_LOG_ERROR("Failed to call cleanup on error state")
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
} else {
|
||||
// We call shutdown on the error state
|
||||
if (rcl_lifecycle_trigger_transition(&state_machine_, error_resolved, true) != RCL_RET_OK) {
|
||||
if (rcl_lifecycle_trigger_transition(
|
||||
&state_machine_, error_resolved, publish_update) != RCL_RET_OK)
|
||||
{
|
||||
RCUTILS_LOG_ERROR("Failed to call cleanup on error state")
|
||||
return RCL_RET_ERROR;
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue